终端区离场航空器自主路径规划  

Autonomous path planning of departing aircraft in terminal area

作　　者：王红勇[1] 郭宇鹏 WANG Hongyong;GUO Yupeng(College of Air Traffic Management,Civil Aviation University of China,Tianjin 300300,China;Beijing Municipal Commission of Transport,Beijing 101160,China)

机构地区：[1]中国民航大学空中交通管理学院,天津300300 [2]北京市交通委员会,北京101160

出　　处：《北京航空航天大学学报》2025年第2期446-456,共11页Journal of Beijing University of Aeronautics and Astronautics

基　　金：天津市自然科学基金(21JCZDJC00840)。

摘　　要：随着航空器自主保持间隔运行概念的逐渐发展,基于连续爬升运行(CCO)模式,可有效解决当前终端区内航空器离场路径固定单一所造成空域运行效率低问题。为此,提出一种基于人工势场-粒子群优化(APF-PSO)联合算法的终端区离场航空器自主路径规划方法。构建面向航空器自主运行模式的空域环境模型,对空域环境进行栅格化处理并计算各栅格的空域复杂度,限制离场航空器进入高复杂度栅格以保障运行安全;构建基于BADA数据库和减退力爬升模式的航空器爬升性能约束模型;应用APF-PSO联合算法进行路径规划,通过粒子群优化(PSO)算法广域搜索思想解决人工势场法(APF)固有的局部极值-目标不可达问题;使用贝塞尔曲线法优化该路径,引入滑动时间窗口理念优化航空器离场时刻;使用上海终端空域的实际结构和运行数据,应用所提方法进行仿真模拟。仿真结果表明:APF-PSO联合算法可有效生成航空器无冲突离场路径并规避繁忙空域,优化处理后的路径满足航空器爬升性能约束,且优于实际运行路径(路径长度减少23.78%,最大转弯率降低55.73%,最大爬升率降低9.94%);离场航空器自主运行模式下的空中交通复杂性较当前运行模式更为均衡(栅格复杂度峰值降低3.92%),可有效提升空域利用率。With the gradual development of the aircraft self-separation operation and the continuous climbing operation(CCO)mode,it can effectively solve the problem that the departure path of aircraft in the current terminal area is fixed and single,which leads to the low operational efficiency of airspace.Therefore,an autonomous path planning method based on artificial potential field-particle swarm optimization(APF-PSO)algorithm was proposed in this paper.To guarantee operation safety,the airspace environment was first rasterized,the aircraft autonomous operation mode was taken into consideration,and the airspace complexity of each grid was computed.This prevented departing aircraft from flying into high-complexity grids.The aircraft climbing performance constraint model was constructed based on the BADA database and reduced force climbing mode.Then the path planning was carried out by using the APF-PSO algorithm of artificial potential field(APF)and particle swarm optimization(PSO)algorithm,and the local extremum-target unreachable problem inherent in the artificial potential field method was solved by using the region search algorithm of particle swarm optimization.The Bessel curve method was used to optimize the path planning and the concept of sliding time window was introduced to optimize the departure time of aircraft.Finally,using the actual structure and operation data of Shanghai terminal airspace,the proposed method was applied to simulate.The simulation test results show that the APF-PSO algorithm can effectively generate the aircraft conflictfree departure path and avoid busy airspace.The optimized path satisfies the aircraft climbing performance constraints and is better than the actual path(path length reduced by 23.78%,maximum turning rate reduced by 55.73%,maximum climbing rate reduced by 9.94%).Additionally,the autonomous operation mode of departing aircraft results in a more balanced airspace operation condition than the actual operating mode(a reduction of 3.92%in peak grid complexity),which can signif

关 键 词：航空运输 航空器自主运行 连续爬升运行 路径规划 人工势场-粒子群优化算法 空中交通管理 

分 类 号：V355[航空宇航科学与技术—人机与环境工程] U8[交通运输工程]